Example of webots with ros integration

slugbot_package/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(slugbot_package)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+# Besides the package specific dependencies we also need the `pluginlib` and `webots_ros2_driver`
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(webots_ros2_driver REQUIRED)
+
+# Export the plugin configuration file
+pluginlib_export_plugin_description_file(webots_ros2_driver slugbot_driver.xml)
+
+# Obstacle avoider
+include_directories(
+  include
+)
+add_executable(obstacle_avoider
+  src/ObstacleAvoider.cpp
+)
+ament_target_dependencies(obstacle_avoider
+  rclcpp
+  geometry_msgs
+  sensor_msgs
+)
+install(TARGETS
+  obstacle_avoider
+  DESTINATION lib/${PROJECT_NAME}
+)
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+# SlugbotDriver library
+add_library(
+  ${PROJECT_NAME}
+  SHARED
+  src/SlugbotDriver.cpp
+)
+target_include_directories(
+  ${PROJECT_NAME}
+  PRIVATE
+  include
+)
+ament_target_dependencies(
+  ${PROJECT_NAME}
+  pluginlib
+  rclcpp
+  webots_ros2_driver
+)
+install(TARGETS
+  ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+# Install additional directories.
+install(DIRECTORY
+  launch
+  resource
+  worlds
+  protos
+  DESTINATION share/${PROJECT_NAME}/
+)
+ament_export_include_directories(
+  include
+)
+ament_export_libraries(
+  ${PROJECT_NAME}
+)
+ament_package()

slugbot_package/LICENSE

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slugbot_package/include/slugbot_package/ObstacleAvoider.hpp

@@ -0,0 +1,21 @@
+#include <memory>
+
+#include "geometry_msgs/msg/twist.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "sensor_msgs/msg/range.hpp"
+
+class ObstacleAvoider : public rclcpp::Node {
+public:
+  explicit ObstacleAvoider();
+
+private:
+  void leftSensorCallback(const sensor_msgs::msg::Range::SharedPtr msg);
+  void rightSensorCallback(const sensor_msgs::msg::Range::SharedPtr msg);
+
+  rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher_;
+  rclcpp::Subscription<sensor_msgs::msg::Range>::SharedPtr left_sensor_sub_;
+  rclcpp::Subscription<sensor_msgs::msg::Range>::SharedPtr right_sensor_sub_;
+
+  double left_sensor_value{0.0};
+  double right_sensor_value{0.0};
+};

slugbot_package/include/slugbot_package/SlugbotDriver.hpp

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+#ifndef WEBOTS_ROS2_PLUGIN_EXAMPLE_HPP
+#define WEBOTS_ROS2_PLUGIN_EXAMPLE_HPP
+
+#include "rclcpp/macros.hpp"
+#include "webots_ros2_driver/PluginInterface.hpp"
+#include "webots_ros2_driver/WebotsNode.hpp"
+
+#include "geometry_msgs/msg/twist.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+namespace slugbot_driver {
+class SlugbotDriver : public webots_ros2_driver::PluginInterface {
+public:
+  void step() override;
+  void init(webots_ros2_driver::WebotsNode *node,
+            std::unordered_map<std::string, std::string> &parameters) override;
+
+private:
+
+  rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr
+      cmd_vel_subscription_avoid_;
+  rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr
+      cmd_vel_subscription_input_;
+  geometry_msgs::msg::Twist cmd_vel_msg_avoid;
+  geometry_msgs::msg::Twist cmd_vel_msg_input;
+
+  WbDeviceTag right_motors[3];
+  WbDeviceTag *right_side;
+
+  WbDeviceTag left_motors[3];
+  WbDeviceTag *left_side;
+  // distance sensors for debugging
+  WbDeviceTag ds_left;
+  WbDeviceTag ds_right;
+  int time_step_ms = 0;
+};
+} // namespace slugbot_driver
+#endif